添加yaw周软件限位
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@ -37,126 +37,9 @@ Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to
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Note: source file '..\User\task\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_3.o'.
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Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.
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Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
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compiling gpio.c...
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compiling main.c...
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compiling freertos.c...
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compiling adc.c...
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compiling can.c...
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compiling crc.c...
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compiling dma.c...
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compiling i2c.c...
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compiling rng.c...
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compiling spi.c...
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compiling tim.c...
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compiling usart.c...
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compiling stm32f4xx_it.c...
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compiling stm32f4xx_hal_msp.c...
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compiling usb_device.c...
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compiling usbd_desc.c...
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compiling usbd_cdc_if.c...
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compiling usbd_conf.c...
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compiling system_stm32f4xx.c...
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compiling stm32f4xx_hal_pcd.c...
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compiling stm32f4xx_hal_pcd_ex.c...
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compiling stm32f4xx_ll_usb.c...
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compiling stm32f4xx_hal_rcc.c...
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compiling stm32f4xx_hal_rcc_ex.c...
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compiling stm32f4xx_hal_flash.c...
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compiling stm32f4xx_hal_flash_ex.c...
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compiling stm32f4xx_hal_flash_ramfunc.c...
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compiling stm32f4xx_hal_gpio.c...
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compiling stm32f4xx_hal_dma_ex.c...
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compiling stm32f4xx_hal_dma.c...
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compiling stm32f4xx_hal_pwr.c...
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compiling stm32f4xx_hal_pwr_ex.c...
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compiling stm32f4xx_hal_cortex.c...
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compiling stm32f4xx_hal.c...
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compiling stm32f4xx_hal_exti.c...
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compiling stm32f4xx_hal_adc.c...
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compiling stm32f4xx_hal_adc_ex.c...
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compiling stm32f4xx_hal_crc.c...
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compiling stm32f4xx_hal_can.c...
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compiling stm32f4xx_hal_i2c_ex.c...
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compiling stm32f4xx_hal_rng.c...
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compiling stm32f4xx_hal_i2c.c...
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compiling stm32f4xx_hal_spi.c...
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compiling stm32f4xx_hal_tim_ex.c...
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compiling stm32f4xx_hal_uart.c...
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compiling croutine.c...
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compiling stm32f4xx_hal_tim.c...
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compiling list.c...
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compiling event_groups.c...
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compiling queue.c...
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compiling stream_buffer.c...
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compiling tasks.c...
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compiling timers.c...
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compiling heap_4.c...
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compiling port.c...
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compiling cmsis_os2.c...
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compiling usbd_core.c...
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compiling usbd_ctlreq.c...
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compiling usbd_ioreq.c...
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compiling adc.c...
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compiling usbd_cdc.c...
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compiling buzzer.c...
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compiling crc32.c...
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compiling can.c...
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compiling delay.c...
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compiling flash.c...
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compiling fric.c...
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compiling gpio.c...
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compiling i2c.c...
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compiling laser.c...
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compiling led.c...
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compiling mm.c...
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compiling pwm.c...
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compiling rand.c...
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compiling servo.c...
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compiling spi.c...
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compiling uart.c...
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compiling usb.c...
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compiling ahrs.c...
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compiling ballistics.c...
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compiling capacity.c...
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compiling crc8.c...
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compiling crc16.c...
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compiling cmd.c...
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compiling error_detect.c...
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compiling limiter.c...
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compiling filter.c...
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compiling mixer.c...
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compiling pid.c...
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compiling FreeRTOS_CLI.c...
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compiling user_math.c...
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compiling ui.c...
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compiling bmi088.c...
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compiling can.c...
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compiling dr16.c...
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compiling ist8310.c...
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compiling referee.c...
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compiling cap.c...
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compiling ai.c...
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compiling chassis.c...
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compiling config.c...
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compiling gimbal.c...
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compiling shoot.c...
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compiling ai.c...
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compiling atti_esti.c...
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compiling cap.c...
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compiling can.c...
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compiling cli.c...
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compiling command.c...
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compiling ctrl_chassis.c...
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compiling ctrl_gimbal.c...
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compiling info.c...
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compiling ctrl_shoot.c...
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compiling init.c...
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compiling rc.c...
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compiling monitor.c...
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compiling referee.c...
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compiling user_task.c...
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linking...
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Program Size: Code=148744 RO-data=7272 RW-data=760 ZI-data=43824
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Program Size: Code=148920 RO-data=7272 RW-data=760 ZI-data=43824
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FromELF: creating hex file...
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"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
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@ -172,7 +55,7 @@ Package Vendor: Keil
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C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
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<h2>Collection of Component Files used:</h2>
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Build Time Elapsed: 00:00:23
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Build Time Elapsed: 00:00:01
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</pre>
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</body>
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</html>
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16317
MDK-ARM/DevC/DevC.hex
16317
MDK-ARM/DevC/DevC.hex
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@ -3,7 +3,7 @@
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<title>Static Call Graph - [DevC\DevC.axf]</title></head>
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<body><HR>
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<H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sun Mar 9 17:59:51 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Mon Mar 10 10:28:13 2025
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<BR><P>
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<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
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Call chain for Maximum Stack Depth:</H3>
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@ -1728,7 +1728,7 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[8e]">>></a> Task_CLI
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</UL>
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<P><STRONG><a name="[17f]"></a>Gimbal_Control</STRONG> (Thumb, 724 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control))
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<P><STRONG><a name="[17f]"></a>Gimbal_Control</STRONG> (Thumb, 892 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control))
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<BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = Gimbal_Control ⇒ Gimbal_SetMode ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
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</UL>
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<BR>[Calls]<UL><LI><a href="#[180]">>></a> Gimbal_SetMode
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@ -152,6 +152,14 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
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Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
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g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
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/* 限制yaw转动范围（待优化） */
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if (g->setpoint.eulr.yaw > 5.9f && g->setpoint.eulr.yaw < 6.0f) {
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g->setpoint.eulr.yaw = 5.9f;
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} else if (g->setpoint.eulr.yaw > 1.4f && g->setpoint.eulr.yaw < 1.5f) {
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g->setpoint.eulr.yaw = 1.5f;
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}
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/* 重置输入指令，防止重复处理 */
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AHRS_ResetEulr(&(g_cmd->delta_eulr));
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